Abstract: Disclosed is a radar signal clustering method using frequency modulation characteristics and combination characteristics of signals including: a first step of assigning pulses of received radar signals to cells consisting of parameters including radio frequency (RF) and angle of arrival (AOA) of the pulses; a second step of calculating a pulse density distribution of each cell using a kernel density estimator; a third step of extracting a corresponding cell as a frequency fixed cluster if the calculated pulse density distribution is greater than a threshold of the frequency fixed cluster; a fourth step of making cell groups by merging remaining cells that are not extracted as the frequency fixed clusters; a fifth step of calculating a pulse density distribution of each cell group by using the kernel density estimator for each cell group; and a sixth step of comparing the calculated pulse density distribution for each cell group with each threshold according to a signal combination type of frequency agile clus